JP5050825B2 - System controller - Google Patents

Description

  The present invention relates to a system control apparatus having a self-protection function, and more particularly to a system control apparatus capable of keeping a control state stable.

  In general, a system control device including a power semiconductor performs feedback control. More specifically, control is performed using a control command value determined so as to reduce the deviation between the target control value to be achieved by the system control device and the actual control value. A control command value determined by feedback control generally includes an integral term. Examples of the system control device that performs feedback control include a booster device and an electric power steering device disclosed in Patent Document 1.

  Further, the system control device generally has a self-protection function for the purpose of self-short circuit protection, temperature protection, high-voltage protection, and the like. Here, the self-protection function temporarily performs self-protection control by temporarily suspending control or controlling at a lower output than the target control value. In the booster device and the electric power steering device disclosed in Patent Document 1, a configuration relating to soft start that suppresses overshoot of the output voltage at the start of control is shown as the above-described self-protection function.

JP 2006-62515 A JP-A-7-315239 JP 2006-36038 A JP 2000-333488 A JP-A-8-142886 JP 2002-46636 A JP 2000-108916 A JP 2002-120744 A

  A system controller that has a self-protection function and performs feedback control can operate at a target control value or a control value close thereto. In addition, the self-protection function can stop the system control device or perform a low output operation to suppress adverse effects on the system control device. However, a system control apparatus that has both feedback control and a self-protection function has the following problems. In other words, since the difference between the target control value and the actual control value is large during the self-protection period, the integral term to be fed back becomes an excessive value. If the integral term becomes excessive during the self-protection period, when the self-protection is terminated and the control returns to the target control value, the control command value is calculated based on the excessive integral term. As a result, an excessive control command value exceeding the control command value required to achieve the target control value is used for feedback control. As a result, there is a problem that there is a harmful effect such as “overshoot” in which the current and voltage become excessive.

  The present invention was made to solve the above-described problems, and a system control apparatus that can suppress overshoot of a control value when the system control apparatus finishes self-protection and returns to control at a target control value. The purpose is to provide.

The system control apparatus according to the first invention of this application is:
A semiconductor element; actual control value acquisition means for acquiring information on the actual control value of the semiconductor element; deviation calculation means for calculating a deviation between the actual control value and the target control value; and an integral term included in the control command value Integral term computing means for computing the first control command value computing means for determining the first control command value that is the next control command value from the previous integral term and the deviation, and the first control command value A first feedback control means for performing feedback control of the semiconductor element; and during the control by the first feedback control means, the semiconductor element is temporarily stopped or the target control value while performing the calculation by the first control command value calculating means. Protection control means for performing protection control by control at a lower output than the above, control command value reduction means for reducing the control command value, end timing acquisition means for acquiring information on the end timing of the protection control, and the termination season Instead of the first control command value, the first control command value calculated by the first control command value calculation unit first after the end timing is used instead of the first control command value. An end-time control means using the control command value reduced more than,
It is characterized by providing.

The system control apparatus according to the second invention of the present application is:
A semiconductor element, an actual control value acquisition means for acquiring information on the actual control value of the semiconductor element, a deviation calculation means for calculating a deviation between the actual control value and the target control value, and an integral term of the control command value are calculated. An integral term computing means for performing, a first control command value computing means for determining a first control command value as a next control command value from the integral term and the deviation of the immediately preceding control command value, and the first control command value First feedback control means for performing feedback control of the semiconductor element, and during the control by the first feedback control means, while the calculation by the first control command value calculation means is performed, the semiconductor element is temporarily stopped or the target control is performed Protection control means for performing protection control by control at a lower output than the value, integration reduction means for reducing the integral term, and integrated value reduction means during protection for reducing the integral term during the protection control by the integral reduction means When,
It is characterized by providing.

The system controller according to the third invention of the present application is:
A semiconductor element, and an actual control value acquisition means for acquiring information of an actual control value of the semiconductor element;
Deviation calculating means for calculating the deviation between the actual control value and the target control value; integration term calculating means for calculating an integral term included in the control command value; and the integral term and deviation of the immediately preceding control command value First control command value calculating means for determining a first control command value as a next control command value, first feedback control means for performing feedback control of the semiconductor element by the first control command value, and the first feedback Protection control means for performing protection control by temporarily stopping the semiconductor element or performing control at a lower output than the target control value while performing calculation by the first control command value calculation means during control by the control means, and the control Control command value reduction means for reducing the command value, target control value simulation means for matching the target control value with the actual control value during the protection control, and protection using the target control value simulation means during the protection control Medium target system And values constructive means,
It is characterized by providing.

  According to the present invention, it is possible to maintain control stability of the system control device and suppress overshoot of the control value when returning from self-protection to control with the target control value.

Embodiment 1
The present embodiment relates to a system control device that suppresses overshooting of a control value after the suspension of control is released. FIG. 1 is a block diagram illustrating the configuration of this embodiment. The system control apparatus according to the present embodiment includes an upper system 24 and a lower system 22. In this embodiment, the lower system 22 is a boosting system. First, the configuration of the lower system 22 will be described. The lower system 22 includes a battery 16. In FIG. 1, the voltage sensor value of the battery 16 is shown as VBAT. A primary smoothing capacitor 14 is provided after the battery 16. The primary smoothing capacitor 14 is connected in parallel with the circuit. The primary smoothing capacitor 14 performs signal smoothing. A reactor 12 is arranged downstream of the primary smoothing capacitor 14 in series with the circuit.

  A boosting semiconductor device 10 is provided in the subsequent stage of the reactor 12. The boosting semiconductor device 10 is a part that controls boosting performed by the lower system. The step-up semiconductor device 10 is a part that receives a control command value from a host system 24 (to be described later) and realizes boosting determined by the control command value. The step-up semiconductor device 10 includes a diode 17 for rectification. Furthermore, a power device (IGBT) 13 that is PWM signal controlled based on the control command value described above is provided. The step-up semiconductor device 10 also has a self-protection function that stops its own operation for a predetermined period when the lower system 22 reaches an overload such as overcurrent or heating. The above self-protection function is performed by the self-protection control unit 11 provided in the boost semiconductor device 10. Further, after the self-protection control unit 11 pauses its own operation for a certain period of time, the self-recovery control unit 19 that boosts (controls) the control command value again is provided.

  Furthermore, the booster semiconductor device 10 of the present embodiment includes a self-protection notification unit 21 that notifies the host system 24 that self-protection by the self-protection control unit 11 is being performed. The self-protection notification unit 21 notifies that self-protection control is being performed during the self-protection period, for example, using a Hi / Low signal.

  Further, a secondary smoothing capacitor 18 is provided in the subsequent stage of the boosting semiconductor device 10 in parallel with the circuit. A load 20 is connected to the subsequent stage of the secondary smoothing capacitor 18. Examples of the load 20 include a motor. The load 20 includes a sensor that senses the boosted voltage sensor value VH. The difference (deviation) between VH and the target voltage value TVH is ΔVH.

  On the other hand, the host system 24 includes a host control system 26. The host control system 26 is a part that performs calculation of control command values to the lower system 22, transmission of control command values, and the like. The host control system 26 includes a feedforward calculation unit 28, a feedback calculation unit 30, an excessive control suppression unit 32, and a target voltage value calculation unit. The feedforward calculation unit 28 reads the voltage sensor value VBAT and the boosted voltage sensor value VH of the battery 16 described above. Then, a feedforward term of a control command value to be transmitted from VBAT and VH to boost semiconductor device 10 is calculated.

The feedback calculation unit 30 acquires a post-boost voltage sensor value VH that is an actual voltage value boosted by the lower system 22. This is indicated by a double arrow 23 in FIG. Then, ΔVH is calculated by a deviation calculation unit (not shown) that calculates the difference ΔVH between the two. Based on this ΔVH, the feedback term is calculated based on the following Equation 1.
Feedback control value = Kp × ΔVH + Ki × ΣΔVH Equation 1
Here, Kp is a proportional constant and is a Ki integral constant. In Equation 1, the first term Kp × ΔVH is referred to as a proportional term. The second term Ki × ΣΔVH is referred to as an integral term. As described above, the feedback term of this embodiment is given by the sum of the proportional term and the integral term. Then, the sum of the feedback term and the feedforward term is transmitted to the lower system 22 as a control command value.

  Here, feedback control performed by the present embodiment will be described with reference to FIG. In FIG. 2, the horizontal axis is time. For convenience of explanation, the target voltage value is assumed to be constant. A bar chart below the graph showing an example of transition between the target voltage value and the actual voltage value indicates a feedback term (feedback amount) corresponding to the position of the graph. As can be seen from FIG. 2, when the difference between the actual control value and the target voltage value is large (left side of FIG. 2), the value of the feedback term is large. This is because the actual control value is much lower than the target control value at the current control command value, so that a larger control command value is transmitted to reduce the difference between the actual control value and the target control value. On the other hand, in a region where the deviation between the actual control value and the target control value is small (right side in FIG. 2), the value of the feedback term is small because the current control command value is approximately the same as the target control value.

  As described above, the feedback term is composed of a proportional term for correcting the deviation between the transient actual voltage value and the target voltage value and an integral term for correcting the deviation between the steady actual voltage value and the target voltage value. . Since the proportional term and the integral term are such, generally, if the deviation between the target voltage value and the actual voltage value is large, the feedback term becomes the proportional term (the proportional term is dominant over the integral term). Become). On the other hand, when the deviation between the target voltage value and the actual voltage value is small, the main part of the feedback term becomes the integral term (the integral term becomes dominant with respect to the proportional term). As described above, in this embodiment, the control command value is determined using feedforward control and feedback control so that the target voltage value and the actual voltage value coincide with each other as shown in FIG.

  Next, the excessive control suppression unit 32 will be described. The excessive control suppression unit 32 receives a notification that self-protection is being implemented in the boost semiconductor device 10. In addition, a storage device 33 is connected to the excessive control suppression unit 32. The storage device 33 stores an integral term before starting self-protection (hereinafter referred to as a pre-start integral term) (details will be described later). The excessive control suppression unit 32 generates the first control command value after the self-protection is canceled. The excessive control suppression unit 32 calculates the control command value using the integral term before start as the integral term used as the first control command value after the self-protection is canceled. The excessive control suppression unit 32 and the storage device 33 are arranged to determine the first control command value after the self-protection is canceled, and are also one of the characteristic portions of the present invention.

  The host control system 26 including the feedforward calculation unit 28, the feedback calculation unit 30, the excessive control suppression unit 32, and the storage device 33 includes a microcomputer and a memory device that realize the functions described above. The configuration of the present embodiment is as described above, and the host control system 26 calculates a control command value and commands the lower system to achieve the target control value (target voltage value) based on the deviation ΔVH and the like. Then, ΔVH is calculated again, and a new control command value is calculated and commanded. Furthermore, the system control apparatus of the present embodiment can pause its own operation for a certain period by the self-protection control unit 11 for element protection. Further, the first control command value after the self-protection is released is generated by the excessive control suppressing unit 32 and transmitted to the boosting semiconductor device 10. In the present embodiment, the host control system 26 continues to operate even during the self-protection control. That is, the calculation of the proportional term and the integral term feedforward term is continued even during the self-protection control. Variables such as ΔVH that are the data of the calculation at this time are those under self-protection control.

  FIG. 3 is a flowchart for explaining an integral term calculation method according to this embodiment. Hereinafter, description will be made with reference to FIG. First, it is determined whether the host control system 26 has received a notification (self-protection notification) indicating that self-protection is being performed from the self-protection notification unit 21 (step 100). When the self-protection notification is received, it is determined whether the self-protection notification has been received in the immediately preceding (previous) routine (step 105). If the self-protection notification has been received in the immediately preceding routine, the routine is terminated as it is. On the other hand, if the self-protection notification has not been received in the immediately preceding routine, the process proceeds to step 110. In step 110, the integral term (ΣΔVH) is stored in the storage device 33. Here, the integral term stored in step 110 is the latest integral term when the processing proceeds to step 110. This integral term is the pre-start integral term described above. When the integral term before start is stored in the storage device 33 in step 110, the routine is terminated.

  In step 100, if the self-protection notification is not received from the self-protection notification unit 21, the process proceeds to step 111. In step 111, it is determined whether the host control system 26 has received a self-protection notification in the immediately preceding (previous) routine. If it is determined in step 111 that the self-protection notification has not been received in the immediately preceding routine, the self-protection is not performed, and the routine is terminated.

  On the other hand, if it is determined in step 111 that the self-protection notification has been received in the immediately preceding routine, the process proceeds to step 112. When the process proceeds to step 112, the boosting semiconductor device 10 is immediately after the self-protection is released. That is, the control command value transmitted to the lower system 22 next is the first control command value after the self-protection is canceled. As described above, the excessive control suppression unit 32 generates the first control command value after the self-protection is canceled. In step 112, the excessive control suppressing unit 32 reads the pre-start integral term stored in the storage device 33. Then, a control command value is generated (calculated) using the integral term before start as the integral term of the feedback term. Even when calculating the first control command value after canceling the self-protection, the feedforward term and the proportional term are those calculated by the feedforward calculating unit 28 and the feedback calculating unit 30. The control command value calculated in step 112 is used as the first control command value after the self-protection is released.

  FIG. 4 is a diagram showing transitions of the actual voltage, the target voltage, and the feedback amount in the comparative example of the present embodiment. Here, the first control command value after cancellation of self-protection control is the same as in the comparative example, and the booster system, which is a lower system, is controlled by the control command value calculated by the feedback calculation unit and feedforward calculation unit as before self-protection. It is a system control device. Also, the self-protection control can be performed in the configuration of the comparative example. However, the configuration of the comparative example does not include a special configuration for correcting the control command value after the self-protection is released, like the overcontrol suppression unit.

FIG. 4 shows the transition of the actual voltage after such a system control device of the comparative example performs self-protection and then cancels the self-protection control. The upper target voltage and actual voltage waveforms in FIG. 4 and the lower bar chart (feedback amount) are in the same manner as in FIG. Here, the period from T _A to T _B is a self-protection period. In the present embodiment, it can be seen that during the self-protection period, the control is stopped, so that the difference between the target voltage and the actual voltage is large. The feedback control unit regards such a divergence as “a deviation between the steady target voltage and the actual voltage” and increases the integral value. In the comparative example, when the first control command value after the self-protection release (T _B ) is determined, the increased integral term is used. Therefore, the control command value becomes an excessive value, and as shown in FIG. 4, an overshoot in which the actual voltage greatly exceeds the target voltage occurs. As a result, there may be a problem that an overvoltage is applied to the system control device or an overcurrent flows to damage the system control device.

  According to the configuration of the present embodiment, the above-described problem can be solved. In other words, the pre-start integral term stored in the storage device 33 is used when calculating the first control command value after canceling the self-protection control. For this reason, since a control command value can be calculated without using an integral term that has become excessive due to self-protection, overshoot can be suppressed. This can be expressed as shown in FIG. FIG. 5 shows the waveforms of the actual voltage and the target voltage, and the feedback amount. In FIG. 5, the feedback amount after the self-protection period has elapsed is the sum of the memory value (the integral term before start stored in the storage device) and the proportional term. Therefore, the integral term becomes an appropriate value for achieving the target control value, and overshoot can be avoided. In addition, since the pre-start integral term is an integral term at the start of self-protection, it is an appropriate integral term that corrects the steady divergence between the actual control value and the target control value. Therefore, it is possible to calculate a control command value that accurately matches the actual control value and the target control value even immediately after the self-protection control is released.

  In the present embodiment, the boosting semiconductor device “suspends its own operation for a preset period of time” by the self-protection control unit 11, but the present invention is not limited to this. That is, the self-protection control unit does not suspend control during self-protection, but does not lose the effect of the present invention even if control is continued at a lower output than the target control value. Even with such a self-protection method, the integral term is considered to be excessive, so overshooting is performed using the pre-start integral term as the integral term when determining the first control command value after self-protection is canceled. An inhibitory effect can be obtained.

  In the present embodiment, the self-protection notification unit “notifies that self-protection control is being performed during the self-protection period”, but the present invention is not limited to this. That is, if the self-protection period is a predetermined period, the self-protection notification unit may notify the host control system 26 only at the start time. In that case, the effect of the present invention can be obtained by calculating the self-protection end time on the host control system side and replacing the integral term. Further, the self-protection notification unit may notify the host control system only of the self-control start time and end time. In any of the cases shown here, the integral term at the start can be stored at the start of self-protection, and the integral term can be replaced at the end of self-protection. By doing so, the effect of the present invention is not lost, and it is not necessary to always “notify that self-protection control is being performed” during the self-protection period, so the number of communications between the lower system and the upper system can be reduced. .

  In the present embodiment, the “pre-start integral term” is stored in the storage device included in the host control system, but the present invention is not limited to this. In other words, the storage device has a predetermined integral term that does not cause overshoot even after use after canceling self-protection (for example, if the integral term that does not cause overshoot at the shipping stage is known, the integration term is used. Item) may be stored. Or you may memorize | store not only an integral term but the control command value used after self-protection cancellation | release. In this way, the process of “extracting the integral term before start and storing it in the storage device” performed in this embodiment can be omitted. Therefore, it is not necessary for the host system to recognize information on the self-protection start time (time immediately after self-protection). In this case, if the over-control suppressing unit can grasp only the self-protection end time, it can read the integral term stored in the storage device and calculate the first control command value after canceling the self-protection.

Embodiment 2
The present embodiment relates to a system control apparatus that corrects an integral term in a self-protection period of a boosting semiconductor device and prevents the value from becoming excessive. In addition to the configuration of the first embodiment, the configuration of the present embodiment includes an integral term fixing unit (not shown) that fixes the integral term during the self-protection period. In the present embodiment, the integral term fixing unit is provided inside the feedback calculation unit, but may be arranged at another location.

  FIG. 6 is a flowchart for explaining the integral term adjustment routine of this embodiment. FIG. 6 is the same as FIG. 3 except that step 110 in FIG. 3 is replaced with step 210. Therefore, only differences from FIG. 3 will be described, and the other description will be omitted. As shown in FIG. 6, when it is determined in step 100 that there is a self-protection notification and in step 105 it is determined that the self-protection notification has not been received in the immediately preceding routine, the process proceeds to step 210. That is, step 210 explains the process performed immediately after the self-protection. In step 210, first, the pre-start integral term is stored in the storage device as in the first embodiment. At the same time, the integral term for which the calculation is continued in the feedback calculation unit is fixed to the specified value KK1. The integral term is fixed to the specified value KK1 by the integral term fixing unit described above. The integral term is fixed to KK1 in this way from the time when the process of step 210 is first performed until the self-protection control is released.

  The specified value KK1 described above is a value predetermined in the system. KK1 is a value at which the control value of the lower system does not cause overshoot when used as an integral term.

  Here, the significance of “fixing the integral term during the self-protection period” as in the present embodiment will be described. In the configuration of the first embodiment, the first control command value after releasing the self-protection is set to a control command value that does not cause overshoot. As a result, it is possible to prevent the first control command value after the self-protection cancellation from becoming an excessive value. However, a certain processing time is required for the integral term adjustment routine of FIG. Therefore, it is conceivable that the control after the self-protection is released is resumed by the control command value calculated using the excessive integral value before the excessive control suppression unit detects that “just after the self-protection is released”. In the first embodiment, since the above-described problem may occur, there is a problem that overshoot countermeasures may not be perfect depending on the operation state of the system control apparatus.

  According to the configuration of the present embodiment, since the integral term is fixed to the specified value KK1 during the self-protection period by the integral term fixing unit, the integral term does not become excessive even during the self-protection period. Therefore, even if the first control command value after cancellation of self-protection is calculated by the feedback calculation unit instead of the excessive control suppression unit, overshoot can be suppressed. Here, the movement of the actual control value realized by the configuration of the present embodiment will be described with reference to FIG. FIG. 7 is a diagram for explaining the time change of the actual control value with respect to the target control value, as in FIG. 2 described above. The point that the bar chart represents the feedback amount is the same as in FIG. FIG. 7 shows that no overshoot occurs even if the integral term during the self-protection period is used after the self-protection period ends.

  In the present embodiment, the integral term fixing unit is arranged in the feedback control unit, but this arrangement is not an essential requirement for obtaining the present invention, and may be arranged anywhere.

  In the present embodiment, the integral term during the self-protection period is fixed to the specified value KK1, but the present invention is not limited to this. That is, the present invention is characterized in that the integral term itself during the self-protection period is avoided in itself. Therefore, instead of “fixing the integral term to the specified value KK1”, for example, “integral term is set to 0”. The effect of the present invention is not lost even if "the integral term is not calculated" or "the integral term is periodically reset".

Embodiment 3
The present embodiment relates to a system control apparatus that suppresses overshoot after canceling self-protection control without using a storage device. The configuration of the present embodiment is the same as that of the first embodiment except for the following. That is, the host control system of this embodiment includes an integral term calculation unit immediately after protection in place of the excessive control suppression unit and the storage device of the first embodiment. The integral term computing unit immediately after protection is a part that computes the first integral term after the self-protection control is canceled. The integral term calculation unit immediately after protection obtains the proportional term when the self-protection is canceled, and calculates the first integral term after the self-protection control is canceled from the proportional term. Specifically, the calculation is performed by the following equation 2.
Integral term calculated by the integral term calculation unit immediately after protection = Kp × ΔVH / Ki Equation 2
In this way, the first integral term after cancellation of self-protection control can be set to an appropriate value according to ΔVH. According to the configuration of the present embodiment, since a storage device that should store an integral term before start and the like is not necessary, it is possible to suppress overshoot after the self-protection control is released and to downsize the system control device.

  FIG. 8 is a diagram for explaining an integral term adjustment routine performed by the integral term calculation unit immediately after protection. First, it is determined whether a self-protection notification is received from the self-protection notification unit (step 100). If there is a self-protection notification, the routine ends because self-protection control is in progress. On the other hand, if no self-protection notification is detected, the process proceeds to step 111. In step 111, it is determined whether the self-protection notification has been detected in the immediately preceding routine. If it is determined in step 111 that the self-protection notification has been detected in the immediately preceding routine, the process proceeds to step 304. In step 304, the integral term is calculated from the proportional component based on Equation 2 by the integral term computing unit immediately after protection, and the routine is terminated. The integral term calculated in step 304 is used as the integral term of the first control command value after canceling the self-protection.

  The feature of this embodiment is that the integral term is calculated using the proportional term after the self-protection control is canceled. Therefore, Expression 2 is an example, and is not particularly limited as long as a reasonable integral term can be calculated from the proportional term.

Embodiment 4
The present embodiment relates to a system control device that suppresses overshoot after the self-protection is canceled by making the target control value during the self-protection period coincide with the actual control value. The configuration of the present embodiment is the same as that of the first embodiment except for the following. That is, this embodiment includes a target control value changing unit (not shown) instead of the excessive control suppressing unit and the storage device in the first embodiment. The target control value changing unit makes the target control value (target voltage value) coincide with the actual control value. The target control change unit includes a wiring or a communication unit that can receive a self-protection notification from the self-protection notification unit 21 of the lower system 22. In addition, a wiring or communication means for acquiring an actual control value (voltage sensor value after boosting in FIG. 1) is provided.

  When the target control value changing unit as described above receives the self-protection notification, the target control value changing unit acquires the actual control value. Next, a target control value that matches the acquired actual control value is generated. During the self-protection period, the target control value generated here is transmitted as it is to the boost semiconductor device 10 as a control command value.

  As described above, when the control command value in which the target control value is matched with the actual control value is transmitted to the step-up semiconductor device 10 and the control is performed, ΔVH becomes zero. Therefore, both the proportional term and the integral term are zero. Therefore, since the integral term for the first control command value after the self-protection period is released does not become excessive, overshoot can be suppressed.

Embodiment 5
The present embodiment relates to a system control device that reduces a target control value and suppresses overshoot by multiplying a target control value in a predetermined period after cancellation of self-protection by a calculation result of an expression that rises from 0 to 1 as a function of time. . The configuration of the present embodiment is the same as that of the first embodiment except for the following. That is, this embodiment is provided with a target control value conversion unit (not shown) in the host control system 26 instead of the excessive control suppression unit and the storage device in the first embodiment. The target control value conversion unit includes wiring or communication means for receiving a self-protection notification from the self-protection notification unit 21. In addition, wiring or communication means for acquiring an actual control value (voltage sensor value after boosting in FIG. 1) is also provided. After receiving the self-protection notification, the target control value conversion unit acquires the actual control value when the subsequent self-protection notification is not received, that is, after the self-protection is canceled. Then, the target control value is converted based on Equation 3 below.
Target control value after conversion = actual control value + f (tco) × (initial target control value−actual control value) Equation 3
Here, the function f (tco) is a function of time, and tco = 0 when the self-protection control is released. In Equation 3, the initial target control value is the target control value before conversion. The time change of the function f (tco) in Equation 3 is shown in FIG. As can be seen from FIG. 11, f (tco) is a function of time that gradually increases from 0 to 1 during time t _ffukki . The above-mentioned t _ffukki is appropriately determined depending on the possibility of overshoot after the cancellation of self-protection. The converted target control value calculated in this way is transmitted to the feedback control unit 30 and the like. When receiving the converted target control value, the feedback control unit 30 uses the converted target control value in preference to the initial target control value.

  FIG. 10 is a diagram illustrating a routine for setting the target control value after return described above. Hereinafter, this routine will be described with reference to FIG. First, it is determined whether a self-protection notification is received from the self-protection notification unit (step 400). If it is determined in step 400 that there is a self-protection notification, the process proceeds to step 401. In step 401, an actual control value (voltage sensor value after boosting in the case of FIG. 1) is acquired. Next, the process proceeds to step 402. In step 402, the target control value is matched with the actual control value acquired in step 401 and transmitted to the feedback calculation unit 30. This can prevent the integral term during the self-protection period from becoming an excessive value.

  On the other hand, if it is not determined in step 400 that the self-protection notification has been received, the process proceeds to step 404. In step 404, it is determined whether there has been a self-protection notification in the routine immediately before this routine. When it is determined in step 404 that there is a self-protection notification, it is immediately after the self-protection control is released. Let tco used in Equation 3 be zero. After that, the process proceeds to step 407 to acquire the actual control value. Next, the routine proceeds to step 408, where the post-conversion target control value is calculated based on Equation 3.

If it is not determined in step 404 that a self-protection notification has been received, the process proceeds to step 410. In step 410, tco used in Equation 3 is added. That is, the value obtained by adding the time t _R required to process once this routine tco that determined in the previous routine is calculated. When step 410 is completed, the process proceeds to step 412. In step 412, it is determined whether tco shown on the left side of step 410 is larger than tffukki. If tco> tffukki, the routine ends. On the other hand, when tco ≦ tffukki, the process proceeds to step 407 to acquire the actual control value. Furthermore, it progresses to step 408 and the target control value after conversion is calculated.

  Thus, the post-return target control value setting in this embodiment continues to calculate the post-conversion target control value as long as tco is equal to or less than tffukki. Then, feedback control is performed using the converted target control value.

  FIG. 9 is a diagram for explaining the actual control value, the initial target control value, and the converted target control value. In the first embodiment, the target control value does not change even after the self-protection is canceled. This is represented by an initial control value 80 in FIG. On the other hand, in this embodiment, the post-conversion target control value based on Equation 3 is used as the control command value after the self-protection cancellation. The converted target control value gradually increases as shown by a broken line 82 in FIG.

  According to the configuration of the present embodiment, since the temporary target control value is used as the target control value for a certain period after the self-protection control is canceled, ΔVH becomes a low value. Therefore, the feedback amount by the feedback control can be suppressed for a certain period after the self-protection control is released. Therefore, overshoot after the self-protection control is canceled can be prevented.

  In the present embodiment, since the target control value during self-protection control is matched with the actual control value using steps 401 and 402, the integral term does not become excessive during self-protection control. Therefore, if this is used together with the use of the target control value after conversion, overshoot can be suppressed with high accuracy. However, a feature of the present invention is that ΔVH is reduced by reducing the target control value after the self-protection control. Since the overshoot suppression effect can be obtained even if the post-conversion target control value is used, in the present invention, steps 401 and 402 in FIG. 10 are not essential constituent requirements.

FIG. 3 is a block diagram illustrating a configuration of Embodiment 1. The figure explaining feedback control using the waveform and feedback amount of an actual voltage and a target voltage. The flowchart explaining the production | generation method of an integral term. The figure explaining the waveform and feedback amount of the actual voltage and target voltage of a comparative example. The figure explaining the waveform and feedback amount of the actual voltage of 1st Embodiment, and a target voltage. FIG. 9 is a flowchart for explaining an integral term adjustment routine according to the second embodiment. The figure explaining the waveform and feedback amount of the actual voltage of 2nd Embodiment, and a target voltage. FIG. 9 is a flowchart for explaining an integral term adjustment routine according to a third embodiment. The figure explaining the actual control value of Embodiment 5, an initial target control value, and the target control value after conversion. FIG. 10 is a diagram illustrating a routine for setting a target control value after return according to a fifth embodiment. FIG. 10 is a diagram for explaining a function used when setting a target control value after return according to the fifth embodiment.

Explanation of symbols

24 host system 26 host control system 30 feedback calculation unit 32 excessive control suppression unit 33 storage device 21 self-protection notification unit 11 self-protection control unit

Claims (8)

A semiconductor element;
Actual control value acquisition means for acquiring information of an actual control value of the semiconductor element;
Deviation calculating means for calculating a deviation between the actual control value and the target control value;
An integral term computing means for computing the integral term included in the control command value;
First control command value calculating means for determining a first control command value that is the next control command value from the previous integral term and the deviation;
First feedback control means for performing feedback control of the semiconductor element according to the first control command value;
Protection control means for performing protection control by temporarily stopping the semiconductor element or performing control at a lower output than the target control value while performing calculation by the first control command value calculation means during control by the first feedback control means When,
Control command value reducing means for reducing the control command value;
End time acquisition means for acquiring information on the end time of the protection control;
As the first control command value after the end time, instead of the first control command value, the first control command value calculating unit first calculates the first control command value by the control command value reducing unit after the end time. End-time control means using the control command value reduced from one control command value;
A system control apparatus comprising: The control command value reducing means is
Second control command value storage means for storing a second control command value that is the control command value equal to or less than the target control value, and reading for reading the second control command value stored in the second control command value storage means Means and
The system control apparatus according to claim 1, wherein the second control command value is used as the first control command value after the end time. The control command value reducing means is
Start time acquisition means for acquiring information on the start time of the protection control; integration term storage means before start for storing an integration term before start which is the integration term before the start time of the protection control; and integration term before the start Reading means for reading the value stored in the storage means,
2. The system control apparatus according to claim 1, wherein the end-time control means uses the pre-start integral term as an integral term of the first control command value after the end time. The control command value reducing means is
The first control command value after the end time and the control command value for a predetermined period from the first control command value are multiplied by a calculation result of an expression that increases from 0 to 1 as a function of time to the first control command value. With control command value reduction means,
2. The control command value calculated by the first control command value reducing means is used as the first control command value after the end time and the control command value for a predetermined period therefrom. The system controller as described. A semiconductor element;
Actual control value acquisition means for acquiring information of an actual control value of the semiconductor element;
Deviation calculating means for calculating a deviation between the actual control value and the target control value;
An integral term computing means for computing the integral term of the control command value;
A first control command value calculating means for determining a first control command value that is a next control command value from the integral term and the deviation of the immediately preceding control command value;
First feedback control means for performing feedback control of the semiconductor element according to the first control command value;
Protection control means for performing protection control by temporarily stopping the semiconductor element or performing control at a lower output than the target control value while performing calculation by the first control command value calculation means during control by the first feedback control means When,
Integral reduction means for reducing the integral term;
An integral value reduction means during protection that reduces the integral term during the protection control by the integral reduction means;
A system control apparatus comprising:   6. The system control apparatus according to claim 5, wherein the integral reduction unit sets the integral term to zero.   The system control apparatus according to claim 5, wherein the integral reduction unit periodically resets the integral term. A semiconductor element;
Actual control value acquisition means for acquiring information of an actual control value of the semiconductor element;
Deviation calculating means for calculating a deviation between the actual control value and the target control value;
An integral term computing means for computing the integral term included in the control command value;
A first control command value calculating means for determining a first control command value that is a next control command value from the integral term and the deviation of the control command value immediately before;
First feedback control means for performing feedback control of the semiconductor element according to the first control command value;
Protection control means for performing protection control by temporarily stopping the semiconductor element or performing control at a lower output than the target control value while performing calculation by the first control command value calculation means during control by the first feedback control means When,
Control command value reducing means for reducing the control command value;
Target control value simulation means for matching the target control value with the actual control value during the protection control;
A target control value simulation means during protection using the target control value simulation means during the protection control;
A system control apparatus comprising:

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